From 970fdae3aa4b8a2318aa427aee245490ce0830f0 Mon Sep 17 00:00:00 2001 From: scepter914 Date: Sun, 28 Jan 2024 06:13:13 +0900 Subject: [PATCH 1/3] chore(radar_tracks_msgs_converter): fix README Signed-off-by: scepter914 --- .../radar_tracks_msgs_converter/README.md | 77 +++++++++++++------ 1 file changed, 52 insertions(+), 25 deletions(-) diff --git a/perception/radar_tracks_msgs_converter/README.md b/perception/radar_tracks_msgs_converter/README.md index fa08eb08f521a..c8850ce33b635 100644 --- a/perception/radar_tracks_msgs_converter/README.md +++ b/perception/radar_tracks_msgs_converter/README.md @@ -6,32 +6,15 @@ This package converts from [radar_msgs/msg/RadarTracks](https://github.com/ros-p - n: The number of radar objects ## Design +### Background -### Input / Output +Autoware uses [radar_msgs/msg/RadarTracks.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) as radar objects input data. +To use radar objects data for Autoware perception module easily, `radar_tracks_msgs_converter` converts message type from `radar_msgs/msg/RadarTracks.msg` to `autoware_auto_perception_msgs/msg/DetectedObject`. +In addition, because many detection module have an assumption on base_link frame, `radar_tracks_msgs_converter` provide the functions of transform frame_id. -- Input - - `~/input/radar_objects` (radar_msgs/msg/RadarTracks.msg): Input radar topic - - `~/input/odometry` (nav_msgs/msg/Odometry.msg): Ego vehicle odometry topic -- Output - - `~/output/radar_detected_objects` (autoware_auto_perception_msgs/msg/DetectedObject.idl): The topic converted to Autoware's message. This is used for radar sensor fusion detection and radar detection. - - `~/output/radar_tracked_objects` (autoware_auto_perception_msgs/msg/TrackedObject.idl): The topic converted to Autoware's message. This is used for tracking layer sensor fusion. +### Note -### Parameters - -- `update_rate_hz` (double): The update rate [hz]. - - Default parameter is 20.0 -- `new_frame_id` (string): The header frame of the output topic. - - Default parameter is "base_link" -- `use_twist_compensation` (bool): If the parameter is true, then the twist of the output objects' topic is compensated by ego vehicle motion. - - Default parameter is "true" -- `use_twist_yaw_compensation` (bool): If the parameter is true, then the ego motion compensation will also consider yaw motion of the ego vehicle. - - Default parameter is "false" -- `static_object_speed_threshold` (float): Specify the threshold for static object speed which determines the flag `is_stationary` [m/s]. - - Default parameter is 1.0 - -## Note - -This package convert the label from `radar_msgs/msg/RadarTrack.msg` to Autoware label. +`Radar_tracks_msgs_converter` converts the label from `radar_msgs/msg/RadarTrack.msg` to Autoware label. Label id is defined as below. | | RadarTrack | Autoware | @@ -45,6 +28,50 @@ Label id is defined as below. | BICYCLE | 32006 | 6 | | PEDESTRIAN | 32007 | 7 | -- [radar_msgs/msg/RadarTrack.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTrack.msg): additional vendor-specific classifications are permitted starting from 32000. +Additional vendor-specific classifications are permitted starting from 32000 in [radar_msgs/msg/RadarTrack.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTrack.msg). +Autoware objects label is defined in [ObjectClassification.idl](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/ObjectClassification.idl) + +## Interface +### Input + +- `~/input/radar_objects` (radar_msgs/msg/RadarTracks.msg): Input radar topic +- `~/input/odometry` (nav_msgs/msg/Odometry.msg): Ego vehicle odometry topic + +### Output + +- `~/output/radar_detected_objects` (autoware_auto_perception_msgs/msg/DetectedObject.idl): The topic converted to Autoware message. + - This is used for radar sensor fusion detection and radar detection. +- `~/output/radar_tracked_objects` (autoware_auto_perception_msgs/msg/TrackedObject.idl): The topic converted to Autoware message. + - This is used for tracking layer sensor fusion. + +### Parameters + +- `update_rate_hz` (double) [hz] + - Default parameter is 20.0 + +This parameter is update rate for the `onTimer` function. +This parameter should be same as the frame rate of input topics. + +- `new_frame_id` (string) + - Default parameter is "base_link" + +This parameter is the header frame_id of the output topic. + +- `use_twist_compensation` (bool) + - Default parameter is "true" + +This parameter is the flag to use the compensation to linear of ego vehicle's twist. +If the parameter is true, then the twist of the output objects' topic is compensated by the ego vehicle linear motion. + +- `use_twist_yaw_compensation` (bool) + - Default parameter is "false" + +This parameter is the flag to use the compensation to yaw rotation of ego vehicle's twist. + +If the parameter is true, then the ego motion compensation will also consider yaw motion of the ego vehicle. + +- `static_object_speed_threshold` (float) [m/s] + - Default parameter is 1.0 -- [Autoware objects label](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/ObjectClassification.idl) +This parameter is the threshold to determine the flag `is_stationary`. +If the velocity is lower than this parameter, the flag `is_stationary` of DetectedObject is set to `true` and dealt as a static object. From 69d7c6acbb8ffdac9083122966e1198c1ab0b701 Mon Sep 17 00:00:00 2001 From: scepter914 Date: Tue, 30 Jan 2024 14:05:52 +0900 Subject: [PATCH 2/3] fix README Signed-off-by: scepter914 --- perception/radar_tracks_msgs_converter/README.md | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/perception/radar_tracks_msgs_converter/README.md b/perception/radar_tracks_msgs_converter/README.md index c8850ce33b635..eea9d2ac7f344 100644 --- a/perception/radar_tracks_msgs_converter/README.md +++ b/perception/radar_tracks_msgs_converter/README.md @@ -34,14 +34,18 @@ Autoware objects label is defined in [ObjectClassification.idl](https://gitlab.c ## Interface ### Input -- `~/input/radar_objects` (radar_msgs/msg/RadarTracks.msg): Input radar topic -- `~/input/odometry` (nav_msgs/msg/Odometry.msg): Ego vehicle odometry topic +- `~/input/radar_objects` (`radar_msgs/msg/RadarTracks.msg`) + - Input radar topic +- `~/input/odometry` (`nav_msgs/msg/Odometry.msg`) + - Ego vehicle odometry topic ### Output -- `~/output/radar_detected_objects` (autoware_auto_perception_msgs/msg/DetectedObject.idl): The topic converted to Autoware message. +- `~/output/radar_detected_objects` (`autoware_auto_perception_msgs/msg/DetectedObject.idl`) + - DetectedObject topic converted to Autoware message. - This is used for radar sensor fusion detection and radar detection. -- `~/output/radar_tracked_objects` (autoware_auto_perception_msgs/msg/TrackedObject.idl): The topic converted to Autoware message. +- `~/output/radar_tracked_objects` (`autoware_auto_perception_msgs/msg/TrackedObject.idl`) + - TrackedObject topic converted to Autoware message. - This is used for tracking layer sensor fusion. ### Parameters @@ -67,7 +71,6 @@ If the parameter is true, then the twist of the output objects' topic is compens - Default parameter is "false" This parameter is the flag to use the compensation to yaw rotation of ego vehicle's twist. - If the parameter is true, then the ego motion compensation will also consider yaw motion of the ego vehicle. - `static_object_speed_threshold` (float) [m/s] From 440c5795fb0581b94e400ef1d4f4d325afb8c0d3 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 30 Jan 2024 05:10:06 +0000 Subject: [PATCH 3/3] style(pre-commit): autofix --- perception/radar_tracks_msgs_converter/README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/perception/radar_tracks_msgs_converter/README.md b/perception/radar_tracks_msgs_converter/README.md index eea9d2ac7f344..b55755fb96f92 100644 --- a/perception/radar_tracks_msgs_converter/README.md +++ b/perception/radar_tracks_msgs_converter/README.md @@ -6,6 +6,7 @@ This package converts from [radar_msgs/msg/RadarTracks](https://github.com/ros-p - n: The number of radar objects ## Design + ### Background Autoware uses [radar_msgs/msg/RadarTracks.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) as radar objects input data. @@ -32,6 +33,7 @@ Additional vendor-specific classifications are permitted starting from 32000 in Autoware objects label is defined in [ObjectClassification.idl](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/ObjectClassification.idl) ## Interface + ### Input - `~/input/radar_objects` (`radar_msgs/msg/RadarTracks.msg`)